version: 66.07
glider: 511
mission: 5
dive: 235
start: 1 3 111 21 11 51
data:
$ID,511
$MISSION,5
$DIVE,235
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46464.574
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,234
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,030111,205825,1809.137,12703.587,38,1.4,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.4
$GPS2,030111,211056,1809.025,12703.433,14,0.9,14,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.038
$KALMAN_X,-499557.4,-62.5,6467.1,436785.5,-34942.2
$KALMAN_Y,541880.0,-149.0,3216.0,-817973.0,-15070.3
$MHEAD_RNG_PITCHd_Wd,102.4,113322,-9.9,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.40,0.000,2,0.000,0.000,41,2156,2731,0,0,0,0,0,0
$GC,101,-0.58,-146.0,3.1,-2.5,14,134,10.30,2.33,-16.95,0.000,4,0.249,0.069,2455,738,3487,0,0,0,0,0,0
$GC,250,-0.58,-146.0,29.0,-12.4,46,256,0.00,2.25,0.00,0.000,6,0.000,0.053,2446,2145,3489,0,0,0,0,0,0
$GC,453,-0.58,-146.0,63.6,-18.9,66,457,0.00,2.25,0.00,0.000,4,0.000,0.056,2446,731,3488,0,0,1,0,0,0
$GC,489,-0.58,-146.0,70.1,-16.1,69,494,0.00,2.25,0.00,0.000,6,0.000,0.054,2444,2144,3487,0,0,0,0,0,0
$GC,749,-0.58,-146.0,114.6,-15.7,94,753,0.00,2.22,0.00,0.000,4,0.000,0.056,2443,726,3491,0,0,0,0,0,0
$GC,781,-0.58,-146.0,120.0,-14.8,97,786,0.00,2.25,0.00,0.000,6,0.000,0.054,2444,2145,3489,0,0,0,0,0,0
$GC,1041,-0.58,-146.0,151.4,-11.3,122,1045,0.00,2.30,0.00,0.000,4,0.000,0.069,2444,3555,3489,0,0,0,0,0,0
$GC,1104,-0.58,-146.0,157.8,-9.5,128,1110,0.00,2.15,0.00,0.000,6,0.000,0.042,2444,2144,3489,0,0,0,0,0,0
$GC,1365,-0.58,-146.0,181.0,-7.7,153,1369,0.00,2.17,0.00,0.000,4,0.000,0.054,2444,736,3490,0,0,0,0,0,0
$GC,1416,-0.58,-146.0,184.9,-7.1,158,1420,0.00,2.22,0.00,0.000,6,0.000,0.054,2444,2145,3490,0,0,0,0,0,0
$GC,1674,-0.58,-146.0,206.3,-8.9,179,1678,0.00,2.28,0.00,0.000,4,0.000,0.066,2444,3558,3490,0,0,0,0,0,0
$GC,1698,-0.58,-146.0,208.3,-8.3,180,1702,0.00,2.17,0.00,0.000,6,0.000,0.041,2444,2129,3490,0,0,0,0,0,0
$GC,2026,-0.58,-146.0,239.2,-9.6,196,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2129,3490,0,0,0,0,0,0
$GC,2337,-0.58,-146.0,263.8,-6.6,211,2341,0.00,2.15,0.00,0.000,4,0.000,0.052,2444,728,3490,0,0,0,0,0,0
$GC,2396,-0.58,-146.0,267.5,-5.5,213,2402,0.00,2.25,0.00,0.000,6,0.000,0.055,2444,2144,3489,0,0,0,0,0,0
$GC,2712,-0.58,-146.0,281.2,-4.9,229,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2144,3488,0,0,0,0,0,0
$GC,3040,-0.58,-146.0,303.4,-7.7,244,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2146,3487,0,0,0,0,0,0
$GC,3365,-0.58,-146.0,330.1,-8.5,252,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2144,3486,0,0,0,0,0,0
$GC,3690,-0.58,-146.0,354.5,-7.0,260,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2144,3484,0,0,0,0,0,0
$GC,4015,-0.58,-146.0,373.0,-5.8,268,4019,0.00,2.25,0.00,0.000,4,0.000,0.066,2444,3556,3483,0,0,0,0,0,0
$GC,4038,-0.58,-146.0,374.4,-5.5,268,4042,0.00,2.17,0.00,0.000,6,0.000,0.042,2444,2136,3483,0,0,0,0,0,0
$GC,4377,-0.58,-146.0,397.2,-6.8,277,4381,0.00,2.15,0.00,0.000,4,0.000,0.052,2444,739,3480,0,0,0,0,0,0
$GC,4405,-0.58,-146.0,399.2,-7.2,277,4409,0.00,2.25,0.00,0.000,6,0.000,0.055,2444,2148,3481,0,0,0,0,0,0
$GC,4739,-0.58,-146.0,420.1,-6.1,286,4743,0.00,2.28,0.00,0.000,4,0.000,0.065,2445,3561,3479,0,0,0,0,0,0
$GC,4766,-0.58,-146.0,421.8,-6.4,286,4770,0.00,2.20,0.00,0.000,6,0.000,0.044,2444,2148,3479,0,0,0,0,0,0
$GC,5102,-0.58,-146.0,440.5,-5.2,295,5106,0.00,2.20,0.00,0.000,4,0.000,0.051,2444,732,3478,0,0,0,0,0,0
$GC,5147,-0.58,-146.0,442.9,-5.3,296,5152,0.00,2.22,-0.10,0.000,6,0.000,0.054,2444,2145,3498,0,0,0,0,0,0
$GC,5471,-0.58,-146.0,456.7,-4.4,304,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2145,3497,0,0,0,0,0,0
$GC,5795,-0.58,-146.0,473.5,-5.4,312,5799,0.00,2.25,0.00,0.000,4,0.000,0.066,2444,3556,3496,0,0,0,0,0,0
$GC,5823,-0.58,-146.0,475.1,-5.5,312,5827,0.00,2.20,0.00,0.000,6,0.000,0.045,2444,2126,3496,0,0,0,0,0,0
$GC,6158,-0.58,-146.0,498.8,-7.3,321,6162,0.00,2.15,0.00,0.000,4,0.000,0.053,2444,742,3494,0,0,0,0,0,0
$GC,6425,-0.58,-146.0,518.1,-7.8,326,6430,0.00,2.22,0.00,0.000,6,0.000,0.055,2444,2148,3492,0,0,0,0,0,0
$GC,6755,-0.58,-146.0,540.1,-6.9,335,6759,0.00,2.28,0.00,0.000,4,0.000,0.067,2444,3558,3491,0,0,0,0,0,0
$GC,6924,-0.58,-146.0,553.8,-8.0,338,6928,0.00,2.17,0.00,0.000,6,0.000,0.047,2444,2145,3489,0,0,0,0,0,0
$GC,7259,-0.58,-146.0,578.1,-7.2,347,7263,0.00,2.33,0.00,0.000,4,0.000,0.071,2444,3560,3489,0,0,0,0,0,0
$GC,7415,-0.58,-146.0,590.5,-9.0,350,7420,0.00,2.20,0.00,0.000,6,0.000,0.047,2444,2147,3487,0,0,0,0,0,0
$GC,7760,-0.58,-146.0,620.5,-9.2,359,7764,0.00,2.33,0.00,0.000,4,0.000,0.070,2444,3558,3485,0,0,0,0,0,0
$GC,7810,-0.58,-146.0,625.7,-10.7,360,7814,0.00,2.15,0.00,0.000,6,0.000,0.043,2448,2138,3484,0,0,1,0,0,0
$GC,8127,-0.58,-146.0,655.9,-9.4,368,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2133,3483,0,0,0,0,0,0
$GC,8453,-0.58,-146.0,682.2,-7.7,376,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2134,3485,0,0,0,0,0,0
$GC,8777,-0.58,-146.0,705.1,-7.1,384,8781,0.00,2.30,0.00,0.000,4,0.000,0.068,2444,3553,3480,0,0,0,0,0,0
$GC,8898,-0.58,-146.0,714.7,-8.9,386,8902,0.00,2.20,0.00,0.000,6,0.000,0.047,2443,2144,3479,0,0,0,0,0,0
$GC,9237,-0.58,-146.0,743.4,-8.7,395,9241,0.00,2.30,0.00,0.000,4,0.000,0.068,2444,3551,3478,0,0,0,0,0,0
$GC,9273,-0.58,-146.0,746.8,-10.3,395,9277,0.00,2.17,0.00,0.000,6,0.000,0.044,2443,2140,3477,0,0,0,0,0,0
$GC,9608,-0.58,-146.0,776.5,-9.1,404,9612,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,736,3478,0,0,0,0,0,0
$GC,9663,-0.58,-146.0,781.4,-8.5,405,9667,0.00,2.25,0.00,0.000,6,0.000,0.050,2444,2149,3475,0,0,0,0,0,0
$GC,9980,-0.58,-146.0,804.2,-6.8,413,9984,0.00,2.30,0.00,0.000,4,0.000,0.068,2444,3556,3475,0,0,0,0,0,0
$GC,10063,-0.58,-146.0,809.5,-6.5,414,10069,0.00,2.20,0.00,0.000,6,0.000,0.046,2444,2143,3474,0,0,0,0,0,0
$GC,10393,-0.58,-146.0,829.4,-6.2,423,10397,0.00,2.22,0.00,0.000,4,0.000,0.054,2444,741,3473,0,0,0,0,0,0
$GC,10531,-0.58,-146.0,838.8,-6.4,426,10535,0.00,2.22,0.00,0.000,6,0.000,0.051,2443,2151,3470,0,0,0,0,0,0
$GC,10853,-0.58,-146.0,861.8,-7.5,434,10857,0.00,2.33,0.00,0.000,4,0.000,0.071,2444,3555,3471,0,0,0,0,0,0
$GC,10965,-0.58,-146.0,871.5,-8.8,436,10969,0.00,2.20,0.00,0.000,6,0.000,0.047,2444,2150,3468,0,0,0,0,0,0
$GC,11309,-0.58,-146.0,901.7,-9.1,445,11313,0.00,2.25,0.00,0.000,4,0.000,0.057,2444,738,3467,0,0,0,0,0,0
$GC,11354,-0.58,-146.0,906.2,-9.6,446,11359,0.00,2.22,0.00,0.000,6,0.000,0.054,2444,2137,3469,0,0,1,0,0,0
$GC,11676,-0.58,-146.0,934.0,-8.5,454,11680,0.00,2.33,0.00,0.000,4,0.000,0.071,2444,3558,3468,0,0,0,0,0,0
$GC,11736,-0.58,-146.0,939.1,-8.1,455,11740,0.00,2.20,0.00,0.000,6,0.000,0.047,2443,2143,3467,0,0,0,0,0,0
$GC,12048,-0.58,-146.0,964.8,-8.2,463,12052,0.00,2.22,0.00,0.000,4,0.000,0.056,2443,743,3467,0,0,0,0,0,0
$GC,12150,-0.58,-146.0,973.4,-7.9,465,12154,0.00,2.28,0.00,0.000,6,0.000,0.054,2444,2157,3466,0,0,0,0,0,0
$STATE,12379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12379,begin apogee
$GC,12384,-0.28,0.0,991.7,7.9,471,12511,0.32,0.00,124.00,1.358,6,0.072,0.000,2581,2034,2895,0,0,0,0,0,0
$STATE,12519,end apogee,CONTROL_FINISHED_OK
$STATE,12519,begin climb
$GC,12522,0.58,146.0,999.2,0.0,474,12660,0.70,2.53,129.98,1.320,4,0.053,0.068,2842,3449,2296,0,0,1,0,0,0
$GC,12923,0.58,146.0,951.9,17.5,483,12927,0.00,2.22,0.00,0.000,6,0.000,0.050,2852,2056,2286,0,0,1,0,0,0
$GC,13245,0.58,146.0,902.9,15.2,491,13249,0.00,2.30,0.00,0.000,4,0.000,0.069,2853,3453,2281,0,0,0,0,0,0
$GC,13277,0.58,146.0,897.2,16.9,491,13281,0.00,2.22,0.00,0.000,6,0.000,0.048,2863,2039,2281,0,0,0,0,0,0
$GC,13607,0.58,146.0,844.5,16.2,499,13611,0.00,2.22,0.00,0.000,4,0.000,0.058,2878,634,2279,0,0,0,0,0,0
$GC,13639,0.58,146.0,839.0,16.1,499,13644,0.15,2.25,0.00,0.000,6,0.222,0.054,2841,2042,2275,0,0,0,0,0,0
$GC,13969,0.58,146.0,791.9,13.8,507,13973,0.00,2.33,0.00,0.000,4,0.000,0.070,2841,3465,2277,0,0,0,0,0,0
$GC,14033,0.58,146.0,781.8,14.4,508,14037,0.00,2.25,0.00,0.000,6,0.000,0.050,2850,2039,2275,0,0,0,0,0,0
$GC,14382,0.58,146.0,732.6,13.9,517,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2034,2275,0,0,0,0,0,0
$GC,14707,0.58,146.0,684.7,15.0,525,14708,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2034,2275,0,0,0,0,0,0
$GC,15032,0.58,146.0,637.2,14.3,533,15036,0.00,2.33,0.00,0.000,4,0.000,0.071,2849,3456,2275,0,0,0,0,0,0
$GC,15096,0.58,146.0,626.8,14.8,534,15100,0.00,2.22,0.00,0.000,6,0.000,0.051,2860,2048,2275,0,0,0,0,0,0
$GC,15445,0.58,146.0,578.2,13.7,543,15446,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2041,2275,0,0,0,0,0,0
$GC,15770,0.58,146.0,536.1,12.6,551,15771,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2041,2274,0,0,0,0,0,0
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$STATE,22140,end climb,SURFACE_DEPTH_REACHED
$STATE,22140,begin surface coast
$FINISH,0.8,1.022978
$STATE,22175,end surface coast,CONTROL_FINISHED_OK
$STATE,22175,begin surface
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$AR_CDRIVE_FREE,8406171648
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53869871104
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,49.566
$10V_AH,10.0,32.696
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.266,0.000,0.000
$MEM,354868
$DATA_FILE_SIZE,33351,965
$CAP_FILE_SIZE,199206,0
$CFSIZE,260165632,238182400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,040111,032600,1807.697,12705.263,52,2.0,57,-2.1